JP2007039113A - Empty bag supplying apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an empty bag supplying apparatus for taking out an empty bag from its packing box one at a time no matter how each empty bag is stacked in the box. <P>SOLUTION: This empty bag supplying apparatus 1 takes out an empty bag B one at a time by the suction hand 44 of an empty bag taking out mechanism 30 from an empty bag container 10 storing many empty bags in a stacked condition by suitably changing the direction of a bag opening part and places the bag on a conveyer 20. The device 1 is provided with an imaging device 50 for imaging the condition of the inside of the container 10 and an image taken by the device 50 is analyzed by an image analyzer 61. Based on the result of the analysis, a controller 60 sends a command to the mechanism 30 relating to the position of the hand 44 and the modification of the direction of the empty bag B sucked. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an empty bag supply device used in an article bagging process.

  When bags are selected as packaging materials for articles, it is necessary to separate the empty bags one by one and supply them to the bagging and packaging machine. Since these empty bags have different thicknesses at the opening and bottom, when delivered from a bag manufacturer, dozens of sheets are bundled, and the direction of the bag opening is reversed for each bundle. It is packed in a relatively stable state by stacking. When empty bags are supplied to the bagging and packaging machine, if a bundle of empty bags taken out of the box is placed on the supply conveyor as it is, the bundle is thick at only one end, causing collapse of the load. End up. In order to prevent this, it is necessary to arrange the empty bags little by little as in the case of sashimi, and for the bundles in which the direction of the bag opening is reversed, the direction of the bag opening needs to be corrected. But it was a hassle. In order to reduce this effort, a method has been developed in which empty bags are stacked and stored in a bag storage device, and are picked up from the top layer one by one. Examples thereof can be seen in Patent Documents 1 and 2.

In the empty bag supply apparatus described in Patent Literatures 1 and 2, empty bags are stacked in a line in the vertical direction in a bag storage device. The bottom part of the empty bag is often thicker than the opening due to folding to remove gussets, so simply stacking will make the bottom thicker. It becomes a fan shape with the direction of the fan. Since the angle of the fan shape cannot be increased without limit, the direction of the bag opening is changed every appropriate number of pieces, that is, the fan shape is appropriately reversed and stacked, and the empty bag is stored in the bag storage device. It is put. The empty bag is sucked and taken out from the uppermost layer with a pair of suction cups, the direction of the empty bag is changed with a rotating cylinder as necessary, and the opening side of the bag is aligned in a certain direction and supplied to the automatic packaging machine.
Japanese Examined Patent Publication No. 7-42008 (page 2-3, Fig. 1-4) Japanese Patent No. 2583206 (page 2-3, Fig. 1-4)

  In the empty bag supply device described in Patent Documents 1 and 2, empty bags are packed in a vertical line in a bag storage device, that is, the position of each empty bag in the bag storage device excludes the height direction. The operation is established on the premise that it is constant. In order to save the trouble of transferring the empty bag to the bag storage device, if you want to divert the packaging box shipped from the empty bag manufacturing factory to the bag storage device as it is, the inner dimensions of the box's horizontal cross section are exactly the size of the empty bag It is necessary to use a special box with high height. Producing a specially shaped packaging box and using it is not cost effective.

  The present invention has been made in view of the above points, and it is possible to store a dedicated bag storage device directly from an appropriate plastic box in which a bundle of empty bags taken out from the packing box is stored without transferring the empty bag from the packing box. It is possible to take out one piece at a time without having to transfer it to each other, and even if the empty bags are stacked in a packing box or plastic box, it does not matter how they are arranged in a sashimi shape. Provided is an empty bag supply device capable of discriminating a change in the position of an empty bag and a direction of a bag opening by image analysis, and sucking and taking out empty bags one by one so that the suction position of a suction hand is constant. For the purpose.

  (1) In order to achieve the above object, the present invention changes the direction of the bag opening appropriately and stacks and stores a large number of empty bags, and one empty bag in the empty bag container with a suction hand. In an empty bag supply device comprising an empty bag takeout mechanism that sucks and removes each, and rotates the suction hand as necessary so that the direction of the bag opening is made uniform and then placed in a predetermined location. An imaging device that captures the state, an image analysis device that analyzes an image captured by the imaging device, a command regarding the horizontal position of the suction hand, and a direction of the sucked empty bag based on the analysis result of the image analysis device It is characterized by comprising a control device for giving a command regarding correction to the empty bag take-out mechanism.

  According to this configuration, the suction hand is not positioned when the position of the empty bag with respect to the container is constant, but the suction hand is positioned by determining the position to lower the suction hand based on image analysis. Therefore, it can be adsorbed accurately regardless of where the empty bag is in the empty bag container. For this reason, there is no need for a dedicated bag storage device that exactly matches the size of the empty bag, and it is possible to share one type of packing box or return box with many types of empty bags to reduce logistics costs. .

  (2) Further, the present invention is characterized in that, in the empty bag supply device configured as described above, the imaging device is supported by a moving block in the empty bag take-out mechanism together with the suction hand.

  According to this configuration, it is possible to place the imaging viewpoint in the vicinity of the suction hand, and the position where the suction hand is lowered can be determined with less error.

  (3) Further, the present invention is characterized in that, in the empty bag supply device configured as described above, the imaging device is supported by a stationary member.

  According to this configuration, since the imaging device does not move, wiring for power supply and signal exchange is simple, and the failure rate of the device can be reduced and the reliability can be increased.

  (4) In the empty bag supply device having the above-described configuration, the present invention further includes a distance measuring sensor for measuring a distance to the empty bag in the empty bag container, and the control device uses the measurement result of the distance measuring sensor. Based on the above, the empty bag taking-out mechanism is given a command regarding the raising / lowering position of the suction hand.

  According to this configuration, the distance to the empty bag to be sucked is measured to determine the amount of descent of the suction hand, so the suction hand cannot reach the empty bag or the amount of descent of the suction hand is increased more than necessary. The suction hand can be quickly lowered to just the right height without striking against the empty bag.

  (5) According to the present invention, in the empty bag supply device configured as described above, the control device provides the empty bag take-out mechanism with a command related to the lifting position of the suction hand based on the analysis result of the image analysis device. It is a feature.

  According to this configuration, even the command related to the raising / lowering position of the suction hand is performed based on the image captured by the imaging device, so that fewer components are required to move the suction hand in the three-dimensional space, and the device Cost can be reduced.

  According to the present invention, the position at which the suction hand is lowered is determined based on the image analysis. Therefore, even if the empty bag is not placed in the empty bag container that exactly matches the size of the empty bag, the predetermined portion of the empty bag is sucked and taken out. be able to.

  Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. FIG. 1-7 is a schematic configuration diagram of the empty bag supply device showing different operating states, and FIG. 8 is a block configuration diagram.

  The empty bag supply device 1 includes the following components. That is, an empty bag container 10 in which a large number of empty bags B are stacked and stored, a conveyor 20 that supplies empty bags B taken out one by one from the empty bag container 10 to a bag filling and packaging machine (not shown), and an empty bag from the empty bag container 10 An empty bag take-out mechanism 30 that adsorbs and takes out B one by one and places the bag openings on the conveyor 20 with the direction of the bags being uniform.

  The empty bag B is represented by an elongated trapezoid. The narrower trapezoid is the bag opening, and the thicker one is the bottom. The empty bag container 10 is an elongated box whose upper surface is open, and the width in the depth direction of the figure is a width that can accommodate the empty bag B almost exactly, but the length in the horizontal direction of the figure is empty bag. It is much longer than B length. The empty bag container 10 may be a cardboard packaging box or a synthetic resin pass-through box.

  The empty bag B is put in the empty bag container 10 as follows. First, a plurality of empty bags B are arranged in a sashimi shape on the bottom of the empty bag container 10 as the first stage. On top of this, the second-stage empty bag B is arranged in a sashimi shape (armor-stacked shape, domino shape) with the direction of the bag opening reversed. Needless to say, the direction of the bag opening is reversed, so that the stacking height of the empty bags B is prevented from increasing only at one end of the empty bag container 10, and as many empty bags B as possible are provided. This is so that it can be put into 10. After the second row is arranged, the third-stage empty bag B is arranged in a sashimi shape with the direction of the bag opening being the same as that of the first row. In this way, the empty bag B is stacked and stored to the full capacity of the empty bag container 10 while reversing the direction of the bag opening for each stage. In the figure, the number of stages of the empty bag row is shown as three, but it goes without saying that there is no limit to the number of stages.

  The pillars of the configuration of the empty bag takeout mechanism 30 are a suction hand that sucks the empty bag B and a suction hand moving mechanism. First, the suction hand moving mechanism will be described. The figure shows only a part of the pedestal 31 that supports the empty bag take-out mechanism 30. A pair of bearing blocks 32L and 32R are fixed to the gantry 31. A guide bar 33 and a ball screw 34 are placed between the bearing blocks 32L and 32R so as to be horizontal and parallel to each other. The guide bar 33 is not rotatable, but the ball screw 34 is rotatable around the axis. A servo motor 35 attached to the bearing block 32L rotates the ball screw 34 forward and backward.

  The guide bar 33 and the ball screw 34 support the moving block 36. The moving block 36 incorporates a ball nut (not shown) that forms a pair with the ball screw 34, and moves linearly in the left-right direction in the drawing when the ball screw 34 rotates. This moving direction is defined as the X-axis direction.

  A slide bar 37 and a ball screw 38 are supported on the moving block 36 so as to be vertical and parallel to each other. The slide bar 37 and the ball screw 38 support the lifting block 39 at the lower end. The ball screw 38 passes through a bearing block 40 installed on the upper surface of the moving block 36. The bearing block 40 incorporates a ball nut (not shown) that forms a pair with the ball screw 38, and the ball screw 38 moves up and down when the servo motor 41 rotates the ball nut. When the ball screw 38 moves up and down, the slide bar 37 and the lifting block 39 also move up and down. The up-and-down direction is the Z-axis direction.

  A θ-axis actuator 42 is attached to the lower surface of the lifting block 39. The θ-axis actuator 42 includes a rotary solenoid, a cylinder, a motor with a speed reducer, and the like. The output shaft 43 protrudes vertically from the center of the θ-axis actuator. A suction hand 44 is fixed to the lower end of the output shaft 43.

  The configuration of the suction hand 44 is as follows. First, the horizontal turning arm 45 is fixed to the lower end of the output shaft 43. The swivel arm 45 projects symmetrically about the output shaft 43, and slide shafts 46a and 46b are vertically attached to both ends. The slide shafts 46a and 46b have suction cups 47a and 47b at the lower ends. The slide shafts 46 a and 46 b can move up and down by a predetermined stroke, and are always pushed down to the lower limit position (position in FIG. 1) by the compression coil spring 48.

  A bracket 50 projects horizontally from the lifting block 39. The bracket 50 supports the imaging device 51 and the distance measuring sensor 52. The imaging device 51 is composed of a CCD camera or the like, and captures an image of the shape and pattern of the empty bag B to be sucked. The distance measuring sensor 52 includes an ultrasonic distance measuring sensor, a laser distance measuring sensor, and the like, and measures the distance to the empty bag B to be sucked.

  In FIG. 8, reference numeral 60 denotes a control device that controls the entire empty bag supply device 1. In addition to the θ-axis actuator 42, the imaging device 51, and the distance measuring sensor 52 described so far, the following components are connected to the control device 60. That is, the image analysis device 61 that analyzes the image captured by the imaging device 51, the X-axis motor driver 62 that drives the servo motor 35, the Z-axis motor driver 63 that drives the servo motor 41, and the vacuum suction of the suction cups 47a and 47b are turned on. The suction control valve 64 is turned off.

  The operation of the empty bag supply device 1 is as follows. The control device 60 issues a command to the X-axis motor driver 62 and drives the servo motor 35 to move the moving block 36 in the X-axis direction. The imaging device 51 images the inside of the empty bag container 10 while moving above the empty bag container 10. The captured image is analyzed by the image analysis device 61, and the empty bag B to be taken out is specified. In the state of FIG. 1, the right end side of the third empty bag row from the bottom is the empty bag B to be taken out. After specifying the empty bag B to be taken out, the shape and surface pattern of the empty bag B are analyzed, and the suction point is determined. The control device 60 gives a command to the X-axis motor driver 62 and adjusts the horizontal position of the moving block 36 so that the suction cups 47a and 47b are directly above the suction point. At the same time, the control device 60 predicts the amount of descent of the suction cups 47a and 47b based on the distance to the empty bag row measured by the distance measuring sensor 52.

  Subsequently, the control device 60 issues a command to the Z-axis motor driver 63 to drive the servo motor 41 to lower the lifting block 39 and the suction hand 44 supported by the lifting block 39. Since the approximate amount of descent is predicted, the elevating block 39 is rapidly lowered until the suction cups 47a and 47b are close to the empty bag B, but thereafter the lowering speed is reduced and the suckers 47a and 47b are changed to the empty bag B. It is possible to control so as not to collide with force. Thus, while avoiding the situation where the suction hand 44 cannot reach the empty bag B, or the suction cups 47a and 47b are strongly abutted against the empty bag B by making the lowering amount of the suction hand 44 unnecessarily large, just The suction hand 44 can be quickly lowered to a good height.

  FIG. 2 shows a state in which the suction cups 47a and 47b hit the target empty bag B. FIG. Although the upper surface of the empty bag B is not necessarily horizontal, the suction cup 47a, which is relatively moved upward (relative to the other suction cup) so that the suction cup that hits the higher place contracts the compression coil spring 48. Both 47b adhere to the upper surface of the empty bag B. In FIG. 2, the suction cup 47a is relatively moved upward.

  After the suction cups 47a and 47b hit the empty bag B, the control device 60 opens the suction control valve 64 that has been closed. Then, suction force is generated in the suction cups 47a and 47b, and the empty bag B is adsorbed. The timing of opening the suction control valve 64 may be slightly before the suction cups 47a and 47b hit the empty bag B.

  After adsorbing the empty bag B, the control device 60 rotates the servo motor 41 in the reverse direction. Then, as shown in FIG. 3, the suction hand 44 is pulled up, and the sucked empty bag B is separated from the remaining empty bags B and rises. In FIG. 3, the adsorbed empty bag B has the bag opening portion directed to the right, which is a normal orientation when the empty bag B is placed on the conveyor 20. That is, it is not necessary to reverse the direction of the empty bag B.

  Subsequently, the control device 60 moves the moving block 36 onto the conveyor 20 and then lowers the suction hand 44 to place the empty bag B on the conveyor 20. This is the state of FIG. The control device 60 closes the suction control valve 64, cuts off the suction force of the suction cups 47a, 47b, and raises the suction hand 44. Empty bag B is no longer adsorbed and is left on conveyor 20. The conveyor 20 receives an instruction from the control device of the bagging and packaging machine and carries the empty bag B to a predetermined station of the bagging and packaging machine.

  In this way, the empty bags B in the third empty bag row from the bottom are taken out one by one. When all of the third row has been completed, as shown in FIG. 5, the second empty bag row is started from the bottom. This time, the object to be taken out moves from the left end side to the right end side of the empty bag row.

  Although the bottom of the second empty bag B from the bottom faces rightward, this is opposite to the normal direction. Therefore, the controller 60 gives a command to the θ-axis actuator 42 until the empty bag B is placed on the conveyor 20 after the empty bag B is sucked and pulled up, and reverses the direction of the empty bag B. This is the state of FIG. In this way, the empty bags B in the second row from the bottom are placed one by one on the conveyor 20 with the direction reversed. If the second stage is exhausted and the first stage is entered, the empty bag B can be placed on the conveyor 20 in the same direction as in the third stage.

  Since the position at which the suction hand 44 is lowered is determined based on image analysis, the empty bag B can be accurately sucked wherever it is in the empty bag container 10. When the empty bag B is made of a material having a smooth surface and a small coefficient of friction, a phenomenon that the stacked structure slips and the front-to-back distance often disturbs when placed in a sashimi shape. Even if the interval is disturbed, it is possible to accurately recognize the empty bag B to be sucked and the sucking point of the empty bag B, and to suck the bag accurately. In addition, the empty bag container 10 that exactly matches the size of the empty bag B is not necessary, and it is possible to share one type of packing box or return box with many types of empty bags to reduce the distribution cost.

  Since the imaging device 51 is supported by the moving block 39 together with the suction hand 44, the imaging viewpoint can be placed in the vicinity of the suction hand 44, and the position where the suction hand 44 is lowered is determined with less error. can do.

  Note that the imaging device 51 may have an autofocus function, and the in-focus position may be analyzed by the image analysis device 61 to obtain the distance to the empty bag B. If the control device 60 gives a command relating to the raising / lowering position of the suction hand 44 to the empty bag taking-out mechanism 30 based on the analysis result, the distance measuring sensor 52 can be eliminated and the device cost can be reduced.

  FIG. 9 shows a second embodiment of the empty bag supply device. FIG. 9 is a schematic configuration diagram of an empty bag supply device.

  The second embodiment is different from the first embodiment in how the imaging device 51 and the distance measuring sensor 52 are supported. That is, in the second embodiment, the bracket 50 that supports the imaging device 51 and the distance measuring sensor 52 does not protrude from the lifting block 39 but protrudes from the gantry 31. That is, the imaging device 51 is supported by the immovable member at a position where the entire empty bag container 10 can be seen. The imaging device 51 can employ either a fixed focus method or an autofocus method that automatically focuses on the empty bag B to be extracted next. With the autofocus method, as in the first embodiment, it is possible to analyze the image with the image analysis device 61 to know the distance to the empty bag B, and to control the lifting and lowering of the suction hand 44 based on that.

  In the case of the second embodiment, since the imaging device 51 does not move, wiring for power supply and signal exchange is simple, and the failure rate of the device can be reduced and the reliability can be increased.

  In both the first embodiment and the second embodiment, the elevating block 39 only performs a simple gate motion in a two-dimensional plane defined by the X axis and the Z axis. You may make it move to the three-axis direction of -YZ, ie, a three-dimensional movement. If it does in this way, it will become possible to arrange | position the empty bag B over several rows in the direction orthogonal to a paper surface in the empty bag container 10, and it will become possible to take out the empty bag B from arbitrary rows.

  Moreover, the direction of the empty bag B in the empty bag container 10 does not need to be limited to only two types of the normal direction and the opposite direction. If the angle deviates from the normal direction, it is only necessary to correct the angle deviation with the θ-axis actuator 42 (although a θ-axis actuator that can freely set θ is necessary), the direction of the empty bag B There is no problem even if it is chaotic.

  There is no restriction on the location of the empty bag B taken out from the empty bag container 10. In the first and second embodiments, it is placed on the conveyor 20, but it may be placed directly on the empty bag hopper of the bagging and packaging machine.

  The number of suction cups provided in the suction hand 44 is not limited to two. Any number is acceptable. Further, the function of reversing the direction of the empty bag B can be separated from the suction hand 44. That is, the suction hand 44 is placed on the empty bag hopper of the bag filling and packaging machine in the direction when the empty bag B is adsorbed, and the direction of the empty bag B is changed by the empty bag hopper. In this case, the empty bag hopper is a component of the empty bag take-out mechanism.

    Although the embodiments of the present invention have been described above, various modifications can be made without departing from the spirit of the invention.

    The present invention can be widely used as an empty bag supply device for a bag filling and packaging machine.

The schematic block diagram of the empty bag supply apparatus which concerns on 1st Embodiment of this invention. Similarly, it is a schematic configuration diagram of the first embodiment and shows different operation states. Similarly, it is a schematic configuration diagram of the first embodiment and shows different operation states. Similarly, it is a schematic configuration diagram of the first embodiment and shows different operation states. Similarly, it is a schematic configuration diagram of the first embodiment and shows different operation states. Similarly, it is a schematic configuration diagram of the first embodiment and shows different operation states. Similarly, it is a schematic configuration diagram of the first embodiment and shows different operation states. Block diagram of the empty bag supply device according to the first embodiment The schematic block diagram of the empty bag supply apparatus which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Empty bag supply apparatus B Empty bag 10 Empty bag container 20 Conveyor 30 Empty bag taking-out mechanism 31 Base 33 Guide bar 34 Ball screw 35 Servo motor 36 Moving block 37 Slide bar 38 Ball screw 39 Lifting block 41 Servo motor 42 θ axis actuator 51 Imaging device 52 Distance sensor 60 Control device 61 Image analysis device

Claims (5)

The direction of the opening of the bag is appropriately changed, and an empty bag container for stacking and storing a large number of empty bags, and the empty bags in the empty bag container are sucked and taken out one by one, and the suction hand is rotated as necessary. In the empty bag supply device provided with an empty bag take-out mechanism that puts the bag opening in a predetermined direction and puts it in a predetermined place,
An imaging device that images the state in the empty bag container, an image analysis device that analyzes an image captured by the imaging device, a command regarding the horizontal position of the suction hand based on the analysis result of the image analysis device, and a suction An empty bag supply device, comprising: a control device that gives a command regarding correction of the direction of the empty bag to the empty bag take-out mechanism.   The empty bag supply device according to claim 1, wherein the imaging device is supported by a moving block in the empty bag take-out mechanism together with the suction hand.   The empty bag supply device according to claim 1, wherein the imaging device is supported by a stationary member.   A distance measuring sensor for measuring the distance to the empty bag in the empty bag container is provided, and the control device sends a command regarding the lifting position of the suction hand to the empty bag taking-out mechanism based on the measurement result of the distance measuring sensor. The empty bag supply device according to any one of claims 1 to 3, wherein the empty bag supply device is provided.   The said control apparatus gives the instruction | command regarding the raising / lowering position of the said suction hand to the said empty bag taking-out mechanism based on the analysis result of the said image analysis apparatus, The empty of any one of Claims 1-3 characterized by the above-mentioned. Bag supply device.

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